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Hands: ft-cutouts, the hand cutouts without pinches and grips
hands/ft-cutouts on|off|status starts ft-camd and ft-hands as transient user units with ft-hands' new --no-gestures: hands are published for ft-screens' cutouts, but no pinch or grip is detected, so nothing clicks or drags and a closing hand doesn't raise the tracking rate. It needs a build and ft-camd's capabilities, not hands/run.sh install. Its units conflict with ft-handsctl's, so each stops the other, and they stop with SteamVR. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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DeeJanuzandClaude Opus 5.5 committed
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@@ -3,9 +3,12 @@
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// Python prototype: the same scheduling, with the models on a few threads.
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//
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// ft-hands [--seconds N] [--threads N] [--int8] [--status S] [--models DIR] [--nice N]
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// [--no-publish] [--record DIR] [--swap-sides] [--cams auto|mono|color|all] ...
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// [--no-publish] [--no-gestures] [--record DIR] [--swap-sides] [--cams auto|mono|color|all] ...
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// (--help lists them all)
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//
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// --no-gestures: hands for the cutouts only. No pinch or grip detection, so nothing reaches
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// the pointer and a closing hand doesn't raise the rate; the gestures file is removed.
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//
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// Which cameras (--cams, HANDS_CAMERAS): the four mono IR cameras light the hands with their
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// own IR and track well in dim rooms, but in bright light (a sunny room, a window behind the
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// hands) they expose for the room and the hands come out dark. The two Arcturus colour
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@@ -150,7 +153,7 @@ struct Lighting {
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int main(int argc, char **argv) {
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double seconds = 0, status = 5;
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int threads = 3, niceness = 5;
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bool int8 = false, publish = true, track = true, swap_sides = false;
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bool int8 = false, publish = true, track = true, swap_sides = false, gestures_on = true;
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std::string models = std::string(argv[0]).substr(0, std::string(argv[0]).rfind('/') + 1) + "../models/ncnn";
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std::string record, ring_path = "/run/user/" + std::to_string(getuid()) + "/" FH_RING_NAME;
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// SteamOS starts user processes on CPUs 0-4 and keeps 5-7 (two A720s and the X4) for
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@@ -189,6 +192,7 @@ int main(int argc, char **argv) {
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else if (a == "--nice" && more) niceness = std::atoi(argv[++i]);
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else if (a == "--int8") int8 = true;
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else if (a == "--no-publish") publish = false;
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else if (a == "--no-gestures") gestures_on = false;
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else if (a == "--pinch-begin" && more) pinch_params.begin_m = std::atof(argv[++i]);
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else if (a == "--pinch-end" && more) pinch_params.end_m = std::atof(argv[++i]);
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else if (a == "--pinch-triangulated") pinch_params.triangulated = true;
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@@ -217,6 +221,7 @@ int main(int argc, char **argv) {
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}
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else {
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std::printf("usage: %s [--seconds N] [--threads N] [--int8] [--status S] [--models DIR] [--nice N] [--no-publish]\n"
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" [--no-gestures] (hands for the cutouts only: no pinches or grips)\n"
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" [--record DIR] [--record-for S] [--record-only] [--cpus 5,6,7] [--swap-sides]\n"
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" [--keep-presence P] (0.5) [--ring PATH] (ft-camd's, or ft-ringplay's)\n"
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" [--cams auto|mono|color|all] (auto) [--bright all|color] (all) [--bright-on L] (40) [--bright-off L] (25)\n"
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@@ -265,12 +270,14 @@ int main(int argc, char **argv) {
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return true;
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};
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if (!load_calibration(calib, err) || !ring.open(ring_path.c_str(), err) || !nets.load(models, int8, err) ||
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(publish && (!pub.open(err) || !gestures.open(pinch, grip, err))) ||
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(publish && (!pub.open(err) || (gestures_on && !gestures.open(pinch, grip, err)))) ||
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(!record.empty() && !start_recording(record, err))) {
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std::fprintf(stderr, "%s\n", err.c_str());
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return 1;
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}
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if (!ring.alive()) return std::fprintf(stderr, "ft-camd isn't running (no heartbeat)\n"), 1;
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// so a reader can't take an earlier run's file for this one's
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if (publish && !gestures_on) unlink((run_dir() + "/gestures").c_str());
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std::map<std::string, int> index; // mono calibration name -> ring camera
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std::map<std::string, int> color; // colour calibration name (color_video<N>) -> ring camera
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@@ -541,9 +548,11 @@ int main(int argc, char **argv) {
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const auto hands = tracker.step(images, int64_t(tmin));
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const uint64_t capture = uint64_t(int64_t(tmin) - raw_off); // CLOCK_MONOTONIC
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const std::vector<Seen> views = tracker.views_now();
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grip.update(hands, views, int64_t(capture));
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pinch.update(hands, views, int64_t(capture), grip.gripping());
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if (gesture_log && capture - t_glog >= 100'000'000) {
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if (gestures_on) {
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grip.update(hands, views, int64_t(capture));
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pinch.update(hands, views, int64_t(capture), grip.gripping());
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}
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if (gestures_on && gesture_log && capture - t_glog >= 100'000'000) {
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t_glog = capture;
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for (int k = 0; k < 2; ++k)
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if (pinch.world_d[k] >= 0)
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@@ -554,7 +563,8 @@ int main(int argc, char **argv) {
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// a gesture down or closing gets the full rate, even while the palm holds still
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next_ns = tmin + uint64_t((std::min(tracker.interval(), pinch.engaged() || grip.engaged() ? 1 / 30.0 : 1.0) -
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0.005) * 1e9);
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if (publish) pub.write(hands, capture), gestures.write(pinch, grip, capture);
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if (publish) pub.write(hands, capture);
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if (publish && gestures_on) gestures.write(pinch, grip, capture);
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for (const Pinch::Event &e : grip.events)
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std::printf("grip %s %-5s curl %.2f at %+.3f %+.3f %+.3f\n", e.side ? "right" : "left ", e.what, e.distance,
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e.point[0], e.point[1], e.point[2]);
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@@ -593,17 +603,19 @@ int main(int argc, char **argv) {
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s.handoff_miss, s.dups, s.splits, s.created, s.merged, s.forgotten,
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!rec ? "" : (" recorded " + std::to_string(rec->written()) + " dropped " +
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std::to_string(rec->dropped())).c_str());
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std::printf(" pinches: left %u right %u (held back, palm down: %d %d) grips: left %u right %u",
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pinch.side(0).begins, pinch.side(1).begins, pinch.held_back[0], pinch.held_back[1],
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grip.side(0).begins, grip.side(1).begins);
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for (int k = 0; k < 2; ++k)
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if (pinch.side(k).flags & FH_PINCH_TRACKED)
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std::printf(" %s %s d %.3f curl %.2f", k ? "right" : "left",
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grip.side(k).flags & FH_PINCH_DOWN ? "GRIP"
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: pinch.side(k).flags & FH_PINCH_DOWN ? "PINCH"
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: "open",
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pinch.side(k).distance, grip.curl[k]);
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std::printf("\n");
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if (gestures_on) {
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std::printf(" pinches: left %u right %u (held back, palm down: %d %d) grips: left %u right %u",
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pinch.side(0).begins, pinch.side(1).begins, pinch.held_back[0], pinch.held_back[1],
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grip.side(0).begins, grip.side(1).begins);
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for (int k = 0; k < 2; ++k)
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if (pinch.side(k).flags & FH_PINCH_TRACKED)
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std::printf(" %s %s d %.3f curl %.2f", k ? "right" : "left",
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grip.side(k).flags & FH_PINCH_DOWN ? "GRIP"
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: pinch.side(k).flags & FH_PINCH_DOWN ? "PINCH"
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: "open",
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pinch.side(k).distance, grip.curl[k]);
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std::printf("\n");
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}
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for (const Hand *h : hands)
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std::printf(" hand %d %-5s views %d wrist %+.3f %+.3f %+.3f m scale %.2f speed %.2f m/s\n", h->id,
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h->right() ? "right" : "left", h->nviews, h->pts[0][0], h->pts[0][1], h->pts[0][2], h->scale,
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@@ -616,8 +628,8 @@ int main(int argc, char **argv) {
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}
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}
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if (!color.empty()) unlink(want_file.c_str());
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if (publish) {
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pub.write({}, mono_ns());
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if (publish) pub.write({}, mono_ns());
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if (publish && gestures_on) {
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pinch.release(int64_t(mono_ns())); // a drag in progress ends, as lost
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grip.release(int64_t(mono_ns()));
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gestures.write(pinch, grip, mono_ns());
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